Use slerp for Quat interpolation #8
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| translation += input.weight * Vec3A::from(input.value.translation); | ||
| scale += input.weight * Vec3A::from(input.value.scale); | ||
| rotation = (input.value.rotation * input.weight) * rotation; | ||
| rotation = rotation.slerp(input.value.rotation, input.weight); |
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I am not 100% convinced on the math here. Additive blending requires that the addition operation be commutative to function correctly with this one-at-a-time implementation.
That definitely isn't the case for linear interpolation of quaternions, and I'm not 100% convinced it is for spherical interpolation.
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Rotations are never commutative, so neither are animations of rotations. There's nothing special about slerp(). In general, animation blending is an ordered operation which yields different results if you reorder it, even for non-rotations.
Additive blending requires that the addition operation be commutative
That sounds very wrong. Blending should be performed in a predefined order, and not be reordered. Did you mean associative rather?
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This article claims we need to interpolate between the identity and the additive pose, and then multiply the result by the base pose. I didn't check it's correct, but it's probably not what happens here, so likely we need someone to validate that code before merging.
https://animcoding.com/post/animation-tech-intro-part-3-blending
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Ah, thank you very much for the link. That makes much more sense. I was not aware that order was preserved during animation blending.
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Looking on GitHub web on mobile (which is bad and confusing), I can still see we're doing a single slerp() between source and destination instead of identity. Is this really fixed?
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- base anim rotates 90° right (+)
- additive anim rotates 90° left (-)
- w=1/3
- base.slerp(additive, w) gives: 90 * 2/3 - 90 * 1/3 = 30° right
- base + additive.slerp(identity, w) gives: 90 - 90 * 1/3 = 60° right
I believe the link tells us the second one is correct, which feels right. But we still do the first.
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(note that "+" above is the rotation composition, so quaternion multiplication)
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As discussed by @djeedai, Quat interpolation should use a spherical interpolation by default.